home‎ > ‎

XV-11 Open lidar project Matlab script (V2.1 firmware)


YouTube Video




XV-11 Lidar spec. ( V2.1 firmware, V2.4 Check Here)
Speed: 5Hz
Range: 6 Meter ?,
Field of View: 360 degree, 1 degree Angular resolution

Max. range with 10 % reflectivity: ?M
Interface: 115200 BPS 8N1, 3.3V TLL

Data format

Data size per scan: 1446 Bytes

Header :4 Bytes
    0x5A 0xA5 0x00 0xC0,

Scan Speed: 2 bytes , robot's MCU rely on this to do PID control on lidar's speed.
   Byte 1,2 (Unit16):   Unit ?
.

Ranging data/flag 4x360 Byte
    Byte1:2(Low:High,Uint16): Distance data should be 14 bits(Make possible range is 16M), unit, mm, Bit 14,15 are sensor status flag.
    Byte3,4: reflectivity or uncertainty
(need test)



Reference:
1. Sparkfun (Kindly supply us data to crack.... )
Xevel (Really nice work)


Files ReadXV11.m is using Matlab reading com1 @115200 BPS and plotting data. Test with Sparkfun's capture data, need test with real robot.


Notes: The Matlab scripts are distributed under the GNU General Public License

ċ
ReadXV11.m
(5k)
Cheng-Lung Lee,
Nov 23, 2010, 9:20 AM
ċ
XV11_NoShiled.bin
(298k)
Cheng-Lung Lee,
Nov 23, 2010, 1:41 AM
ċ
XV11_NoShiled2.bin
(297k)
Cheng-Lung Lee,
Nov 23, 2010, 9:35 AM
ċ
XV11_Test4_stop_to_run.bin
(244k)
Cheng-Lung Lee,
Nov 25, 2010, 5:42 AM
ċ
XV11_Test4_stop_to_run.txt
(59k)
Cheng-Lung Lee,
Nov 25, 2010, 8:35 AM
ċ
XV11_Test4_stop_to_run_singalscan.txt
(8k)
Cheng-Lung Lee,
Nov 25, 2010, 8:35 AM
ċ
XV11binaryread.m
(4k)
Cheng-Lung Lee,
Nov 23, 2010, 9:17 AM
Comments